They turned themselves in before Superintendent of Police Rahul Dev Sharma.
All five were members of the Galikonda and Korukonda area committees of the CPI (Maoist), he said.
They were identified as Gemeli Ramesh (18), Musiri Appalanaidu (20), Musiri Ramakrishna (20), Killo Bangru (28) and Gemeli Venkateswara Rao (29), the officer said.
They were involved in a range of different offences such as the killing of a Home Guard jawan, extending logistics support to ultras and pasting their posters, among others, he said.
Sharma said the militia members were fed up with Maoist ideology and missing their family members, and so they gave themselves up to the police.
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